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feat(ekf_localizer): add diagnostics (autowarefoundation#4914)
* feat(ekf_localizer): add diagnostics Signed-off-by: yamato-ando <Yamato ANDO> * update readme Signed-off-by: yamato-ando <Yamato ANDO> * style(pre-commit): autofix * update diag message Signed-off-by: yamato-ando <Yamato ANDO> * refactor Signed-off-by: yamato-ando <Yamato ANDO> * style(pre-commit): autofix * add OK message Signed-off-by: yamato-ando <Yamato ANDO> * fix typo Signed-off-by: yamato-ando <Yamato ANDO> * fix typo Signed-off-by: yamato-ando <Yamato ANDO> * Update localization/ekf_localizer/src/diagnostics.cpp Co-authored-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: yamato-ando <Yamato ANDO> Co-authored-by: yamato-ando <Yamato ANDO> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kento Yabuuchi <[email protected]>
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localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp
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| // Copyright 2023 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef EKF_LOCALIZER__DIAGNOSTICS_HPP_ | ||
| #define EKF_LOCALIZER__DIAGNOSTICS_HPP_ | ||
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| #include <diagnostic_msgs/msg/diagnostic_status.hpp> | ||
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| #include <string> | ||
| #include <vector> | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkProcessActivated(const bool is_activated); | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementUpdated( | ||
| const std::string & measurement_type, const size_t no_update_count, | ||
| const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error); | ||
| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementQueueSize( | ||
| const std::string & measurement_type, const size_t queue_size); | ||
| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementDelayGate( | ||
| const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, | ||
| const double delay_time_threshold); | ||
| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementMahalanobisGate( | ||
| const std::string & measurement_type, const bool is_passed_mahalanobis_gate, | ||
| const double mahalanobis_distance, const double mahalanobis_distance_threshold); | ||
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| diagnostic_msgs::msg::DiagnosticStatus mergeDiagnosticStatus( | ||
| const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & stat_array); | ||
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| #endif // EKF_LOCALIZER__DIAGNOSTICS_HPP_ |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,169 @@ | ||
| // Copyright 2023 Autoware Foundation | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "ekf_localizer/diagnostics.hpp" | ||
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| #include <diagnostic_msgs/msg/diagnostic_status.hpp> | ||
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| #include <string> | ||
| #include <vector> | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkProcessActivated(const bool is_activated) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus stat; | ||
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| diagnostic_msgs::msg::KeyValue key_value; | ||
| key_value.key = "is_activated"; | ||
| key_value.value = is_activated ? "True" : "False"; | ||
| stat.values.push_back(key_value); | ||
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| stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| stat.message = "OK"; | ||
| if (!is_activated) { | ||
| stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; | ||
| stat.message = "[WARN]process is not activated"; | ||
| } | ||
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| return stat; | ||
| } | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementUpdated( | ||
| const std::string & measurement_type, const size_t no_update_count, | ||
| const size_t no_update_count_threshold_warn, const size_t no_update_count_threshold_error) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus stat; | ||
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| diagnostic_msgs::msg::KeyValue key_value; | ||
| key_value.key = measurement_type + "_no_update_count"; | ||
| key_value.value = std::to_string(no_update_count); | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_no_update_count_threshold_warn"; | ||
| key_value.value = std::to_string(no_update_count_threshold_warn); | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_no_update_count_threshold_error"; | ||
| key_value.value = std::to_string(no_update_count_threshold_error); | ||
| stat.values.push_back(key_value); | ||
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| stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| stat.message = "OK"; | ||
| if (no_update_count >= no_update_count_threshold_warn) { | ||
| stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; | ||
| stat.message = "[WARN]" + measurement_type + " is not updated"; | ||
| } | ||
| if (no_update_count >= no_update_count_threshold_error) { | ||
| stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; | ||
| stat.message = "[ERROR]" + measurement_type + " is not updated"; | ||
| } | ||
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| return stat; | ||
| } | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementQueueSize( | ||
| const std::string & measurement_type, const size_t queue_size) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus stat; | ||
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| diagnostic_msgs::msg::KeyValue key_value; | ||
| key_value.key = measurement_type + "_queue_size"; | ||
| key_value.value = std::to_string(queue_size); | ||
| stat.values.push_back(key_value); | ||
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| stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| stat.message = "OK"; | ||
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| return stat; | ||
| } | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementDelayGate( | ||
| const std::string & measurement_type, const bool is_passed_delay_gate, const double delay_time, | ||
| const double delay_time_threshold) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus stat; | ||
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| diagnostic_msgs::msg::KeyValue key_value; | ||
| key_value.key = measurement_type + "_is_passed_delay_gate"; | ||
| key_value.value = is_passed_delay_gate ? "True" : "False"; | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_delay_time"; | ||
| key_value.value = std::to_string(delay_time); | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_delay_time_threshold"; | ||
| key_value.value = std::to_string(delay_time_threshold); | ||
| stat.values.push_back(key_value); | ||
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| stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| stat.message = "OK"; | ||
| if (!is_passed_delay_gate) { | ||
| stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; | ||
| stat.message = "[WARN]" + measurement_type + " topic is delay"; | ||
| } | ||
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| return stat; | ||
| } | ||
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| diagnostic_msgs::msg::DiagnosticStatus checkMeasurementMahalanobisGate( | ||
| const std::string & measurement_type, const bool is_passed_mahalanobis_gate, | ||
| const double mahalanobis_distance, const double mahalanobis_distance_threshold) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus stat; | ||
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| diagnostic_msgs::msg::KeyValue key_value; | ||
| key_value.key = measurement_type + "_is_passed_mahalanobis_gate"; | ||
| key_value.value = is_passed_mahalanobis_gate ? "True" : "False"; | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_mahalanobis_distance"; | ||
| key_value.value = std::to_string(mahalanobis_distance); | ||
| stat.values.push_back(key_value); | ||
| key_value.key = measurement_type + "_mahalanobis_distance_threshold"; | ||
| key_value.value = std::to_string(mahalanobis_distance_threshold); | ||
| stat.values.push_back(key_value); | ||
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| stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; | ||
| stat.message = "OK"; | ||
| if (!is_passed_mahalanobis_gate) { | ||
| stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; | ||
| stat.message = "[WARN]mahalanobis distance of " + measurement_type + " topic is large"; | ||
| } | ||
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| return stat; | ||
| } | ||
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| // The highest level within the stat_array will be reflected in the merged_stat. | ||
| // When all stat_array entries are 'OK,' the message of merged_stat will be "OK" | ||
| diagnostic_msgs::msg::DiagnosticStatus mergeDiagnosticStatus( | ||
| const std::vector<diagnostic_msgs::msg::DiagnosticStatus> & stat_array) | ||
| { | ||
| diagnostic_msgs::msg::DiagnosticStatus merged_stat; | ||
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| for (const auto & stat : stat_array) { | ||
| if ((stat.level > diagnostic_msgs::msg::DiagnosticStatus::OK)) { | ||
| if (!merged_stat.message.empty()) { | ||
| merged_stat.message += "; "; | ||
| } | ||
| merged_stat.message += stat.message; | ||
| } | ||
| if (stat.level > merged_stat.level) { | ||
| merged_stat.level = stat.level; | ||
| } | ||
| for (const auto & value : stat.values) { | ||
| merged_stat.values.push_back(value); | ||
| } | ||
| } | ||
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| if (merged_stat.level == diagnostic_msgs::msg::DiagnosticStatus::OK) { | ||
| merged_stat.message = "OK"; | ||
| } | ||
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| return merged_stat; | ||
| } |
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